DE19803078B4 - Method and device for automatic web guidance of a ship with integrated web regulator - Google Patents

Abstract

Method for web guidance of a ship with integrated railroad controller, in which the orbital and control specifications in a setpoint track generator 31 are dependent on the track point as φ _s = f _i1 (s), λ _s = f _i2 (s), φ _s = f _i3 (s), R _s = f _i4 (s) and v _s = f _i5 (s) are coded, where the tracking point parameter s is the path length on the nominal trajectory, φ _{s is} the geographical latitude associated with the trajectory point, λ _{s is} the geographical longitude, Φ _{s is} the direction of the nominal trajectory tangent in the track point, R ₅ the radius of curvature at the trackpoint and v _s representing the tracking point associated path longitudinal velocity, with a control variable transformer 36 _(is φ, λ _is) from the actual position and the Istkurs ψ _is of the vessel as well as the rail and regulator requirements the track point s on the desired path according to the rule Y _B ² = [φ _is - φ _s (s)] ² + [λ _is - λ _s (s)] ² → min calculated and that a setpoint generator 34, the nonlinear track in a linear Target path converted, characterized in that on the one hand di e Measurement data in the controlled variable transformer 36 by transformation into polar coordinates and filtering in the ...

Description

The invention relates to a method and a device for guiding a ship on predetermined tracks, this with the aid of a nominal path generator 31 track point-dependent according to the rule φ _s = f _i1 (s), λ _s = f _i2 (s), Φ _s = f _i3 (s), R _s = f _i4 (s), v _s = f _i5 (s), i Ε {1, 2, ..., n} coded and stored on a storage medium, wherein (φ, λ) the position, Φ the desired path angle, R the radius of rotation and v are the traveling web speed. A controlled variable transformer 36 calculated from the measured vessel position _(is φ, λ _is), compass heading Ψ _is heading angle velocity _r, and ship speed _is v = [v _x, v _y] the controlled variables track distance, heading, course angle speed and speed and switches them to the corresponding part Regulators rail regulator 35 , These sub-controllers affect the individual controllers for track distance 41 , Course 42 , Course angle speed 43 and ship's longitudinal speed 44 , in which 43 and 44 can be omitted. Furthermore, in the controlled variable transformer 36 the track point parameter s of the setpoint rail line is calculated, which determines the setpoint of the control set to a setpoint generator. The calculated controlled variables of the controlled variable transformer 36 also get to an identifier 37 , the ship and fault model and the controller parameters determined at appropriate intervals and the setpoint generator 34 or the controller 35 on.

Known are control devices, the ships along predetermined track sections to lead. Such track sections are i. d. R. as straight lines, circular arcs or Manövertrajektorien designed. Thus, in all cases, the measured ship positions assigned certain path sections. That can only be done at a relatively low level Deviations from the nominal path take place, since otherwise no clear Assignment possible is. Here, the so-called line of sight (LOS) regulation remedies, at which the attribute-based waypoints after detection with a detection ring placed around the vehicle on the following Switch waypoint of the list, Fussen: Guidance and Control of Ocean Vehicles, John Wiley & Sons Ltd, 1994. Disadvantageous for the gurney arrangement causes sudden changes in the course angle out, which leads to big deviations to lead.

steht, wobei v_y die Geschwindigkeit des Schiffes in Quer- und v_x die Geschwindigkeit des Schiffes in Längsrichtung ist. Einen ähnlichen Ansatz verfolgen Becker, DE 196 25 561 A1 , sowie Kriegsman und Leblang, US 005523951 A .To DE 41 10 249 A1 Railroad controller for ships, in which from the measured ship position, the shelf is calculated from the desired path and given as a control error on a storage controller, the output signal is compared at a further comparison point with an actual price, wherein the comparison point for target and actual price supplied another signal becomes, in relation to the sliding angle of the ship

where v _{y is} the speed of the ship in transverse and v _x the speed of the ship in the longitudinal direction. A similar approach is taken by Becker, DE 196 25 561 A1 , as well as Kriegsman and Leblang, US 005523951 A ,

Furthermore, trajectories can be used to specify arbitrary curvilinear nominal trajectories, for example for submarines, Thomas, Brindley, DE 38 82 138 T2 , However, there is a significant disadvantage here: First of all, extensive optimization algorithms have to be processed in order to determine a manipulated variable profile which realizes a desired trajectory. This can be circumvented by providing a specific maneuver library, but then you can not pretend any path, such as Burns, Dove EP 0 179 595 A2 , Such a strategy is certainly sufficient in the open sea area, compare: Holzhüter, T .: Structure of a highly accurate track guidance system for ships, meeting material Working Group B, 19th International Conference of the College of Marine Engineering Warnemünde / Wustrow, 2.-3.11.1989, Pp. 86-96.

Drive in Ship (possibly Special vessel) in very narrow fairways with constantly changing orbital angles Φ and radii of curvature R, it is not or very difficult to calculate corresponding control variables. The invention aims to remedy this situation.

Of the Invention is based on the object, a method and a device with a web controller for Ships to create, even with urban changing track angles and curvatures achieved sufficient control accuracy and stability of the scheme guaranteed even with strong wind and current influences.

These The object is achieved by the features of the claims 1-3.

In the device according to the invention by a desired path generator 31 a train specification with a finite amount n of track sections in the form of circular arcs or straight sections generated and the corresponding orbital parameters position (φ _s , λ _s ), orbit angle Φ ₅ , radius of curvature R ₅ and speed v _s spurpunktabhängig encoded: φ s = f i1 (s), λ s = f i2 (s), Φ s = f i3 (s), R s = f i4 (s), v s = f i5 (S); i ε {1 ... n} (1)

Such a generated path section can be chosen arbitrarily small, which can be virtually any rail specification to implement, with the special features that the radius of curvature has a lower bound due to the ship's dynamics and a straight track section has the radius of curvature infinity. This setpoint coding comes next to the sensor quantities speed v _ist , DGPS position (φ _is , λ _is ) (or position comparable in accuracy), rotary rate ψ _is and heading angular velocity r _is in a controlled variable transformer 36 , In the controlled variable transformer, the track point parameter s (φ _ist , λ _ist ) on the desired path is first determined from the position and the rotary course. This is set to a setpoint generator 34 connected.

The tracking point represents the point of the nominal trajectory with the minimum distance to the measured position, see 1 , It is determined from the zero of the first derivative of the squared distance function: Y B 2 = [φ is - φ s (S)] 2 + [λ is - λ s (S)] 2 → min (2)

In the case of ambiguities, eg in turning loops, an unambiguous assignment is achieved with the help of the course ψ _ist and the past trace point s _alt . Parallel to the tracking point calculation, the measured variables are in the controlled variable transformer 36 Filtered, the controlled variable path distance Y _Bist , generated from the measured position and on the web controller 35 connected.

The setpoint generator used for the inventive device 34 sets the track point-dependent setpoint path variables in time-dependent controller setpoint values using the current tracking point parameter s from the controlled variable transformer 36 using the current ship model, controller and fault model parameters from the identifier 37 around.

The about the model and speed-dependent Vorhaltestrecke 1 corrected lane point parameter s * selects from the setpoint database the current setpoint lane sizes. From the desired speed v _soll (s) and the radius of rotation R _soll (s) is in the converter block 53 the intermediate size of the target rotational rate r (s *) is calculated and corrected by the factor of the deviation of the actual speed from the target speed. The Vorhaltestrecke 1 is the distance from the place of rudder laying to the intersection of the starting line with the Manbvertrajektorie of the ship model.

By comparing the integral of the default rotation rate r _soll (s) with the setpoint path angle φ _soll (s) is used in the converter for controller setpoint variables 53 generates a sign-correct angular rate pulse, which is adapted to the dynamics of the steering machine. At the same time, the rotation rate controller setpoint r _soll (t) becomes a pre-filter 54 for the generation of the course controller setpoint ψ _soll (t), which according _{to the} invention corresponds to the output signal of the system with the transfer function from the unit of rotation rate controller G _r (p) and ship model F _r (p) with the Laplace variable p:

The advantage of the invention is that the web controller 41 and the course controller 42 during the rotation rate control does not have to be switched off or not against the rotation rate controller 43 is working. At the same time, the course controller setpoint ψ _soll (t) is set via a prefilter 56 a correction course ψ _korr (t) is set, which is determined from the drift vector generated by flow and wind influence.

The Invention will be explained in more detail in an embodiment. It demonstrate:

1 : Schematic diagram for determining the track point and the path deviation

• a) Ermittlung der Drift (passives Stromdreieck)
• b) Kompensation der Drift (aktives Stromdreieck)

2 : Vector triangles for determining the drift correction

• a) Determination of drift (passive current triangle)
• b) compensation of drift (active current triangle)

3 : Structure picture of the web guiding device

4 : Inner structure of the orbital regulator, engineered as a cascade regulator

5 : Function diagram of the setpoint generator 34

In 3 the device is shown, which realizes the inventive method with the blocks Sollbahngenerator 31 , Setpoint generator 34 , Train controller 35 , Control variable transformer 36 and identifier 37 , The nominal train generator 31 represents the interface to the operating personnel, converts the path specifications into the codes according to equation 1 and places them in a database 51 to access the setpoint generator 34 and control variable transformer 36 from. In the standard size transformer 36 become the measurement data of the sensors 33 transformed into the controlled variables. These are used as actual variables on the web controller 35 and on the identifier 37 connected. At the same time, the track point s and the measured ship's longitudinal speed v _ist (t) to the setpoint generator 34 connected.

An identifier 37 collects in a buffer all measured and controlled variables with sufficient excitation, which are necessary for a parameter determination of the ship and fault model. Using an estimation method, both the parameters of a simple orbit model and the parameters of a simplified glitch model can be determined. The total drift can be calculated from the measured values velocity v _ist (t) and course over ground (path angle) Φ _ist (t) as well as from the path angle Φ _wδ and the path velocity v _wδ through the water, which are characterized by model calculation (transfer function according to equation 5) measured values for the rudder position δ _is (t), the longitudinal velocity by water v _Wx (t) and the compass heading ψ _is (t) result determined. By vector subtraction of trajectory over ground (Φ _ist , v _ist ) and trajectory through the water (Φ _Wδ , v _Wδ ) the drift vector (Φ _d , v _d ) is determined ( 2 ). Time constants train Model:

disturbance model:

• ψ corr  = Φ is  - Φ Wδ  (6)

From the model parameters of the ship, the parameters of the orbit controller to be set can be determined on the basis of defined control criteria 35 determine. The parameters of the identified disturbance and ship model are transferred to the setpoint generator 34 connected. The identifier 37 However, it can be replaced by an adaptation device based on a measuring sensors for environmental and ship sizes. The setpoint generator 34 The task is to track point-dependent path specifications with the information from the control variable transformer 36 and identifier 37 into the time-dependent reference variables for the web controller to convert. In the train controller 35 After the comparison of the reference variables with the corresponding actual values, the specifications for the control organs are determined and the corresponding interfaces of the ship 32 connected.

To 4 is the web controller as a three-stage cascade controller 41 - 43 and a parallel speed controller 44 designed. Thus, virtually all states of motion are regulated, so that it can also be designed as a state controller. The cascade controller consists of a PI track distance controller 41 , a subordinate PI course controller 42 and a PID rate controller 43 , It is characterized in particular by the fact that in addition to a correction specification by the higher-level controller, a setpoint value by the setpoint generator 34 is switched on. Thus, both the current drift and wind drift on the course controller and the maneuvering inertia of the ship on the yaw rate controller are compensated. The controller parameters of the individual controllers can be defined by an identifier 37 or adjust an adaptation device, not shown, speed-dependent and load-dependent. 5 shows the setpoint generator, which serves, from the trackpoint dependent Sollbahnparametern, in the database 51 are stored, the time-dependent setpoints target rotation rate r _soll (t), ψ _{is intended} target course (t), the set path deviation Y _Bsoll (t) and speed v _Soll (t) to calculate and output. _Is from the output from the controlled variable transformer current track point parameter s is taking into the speed v _is and the timing defined by the ship model in the forecast block 52 one to the Vorhaltestrecke 1 corrected lane point parameter s *, which determines the associated desired lane parameters from the desired lane database 51 selects. From the track point-dependent desired variables, taking into account the measured speed v _ist (t) in the converter block 53 determines the time-dependent quantities. Known methods relate to the determination of the rate of rotation of arc radius and speed and the determination of the time course of the course as an integral of the yaw rate. The time-dependent set rotation rate r _soll (t) is used as the setpoint for the rotation rate controller 43 output. At the same time are in a pre-filter 54 , which contains the model of the course and orbit control loop, the setpoints for the course and track controller dynamically edited so that the individual controller 41 . 42 the regulator cascade 41 - 43 do not work against each other. In addition, from the trajectory vector, consisting of trajectory angle and trajectory velocity, and the drift vector as a clutter model, the vector algebra in the drift correction block is determined using known methods 55 the correction course angle is determined for dynamic disturbance compensation and after passing through a disturbance prefilter 56 for the dynamic adaptation to the target price ψ _soll (t) for the price regulator 42 connected. This feedforward causes a significant improvement of the path control on curvilinear lanes.

31

Desired trajectory generator

32

ship with rudder and screw (controlled system with actuators)

33

sensors (DGPS, gyro, log, possibly inertial sensors)

34

Setpoint generator

35

rail regulator (Gesamtausführug)

36

Controlled variable transformer

37

identifier for ships and fault model

41

Stepover regulator

42

rate regulator

43

Rotation rate regulator

44

cruise control

51

database for nominal path parameters

52

Vorhalteblock maneuvers inertia

53

converter for controller setpoints

54

prefilter for compensation the ship's dynamics

55

Drift correction block

56

prefilter for feedforward control

Claims (3)

Method for web guidance of a ship with integrated railroad controller, in which the orbital and control specifications in a setpoint generator 31 track point dependent as φ _s = f _i1 (s), λ _s = f _i2 (s), φ _s = f _i3 (s), R _s = f _i4 (s) and v _s = f _i5 (s) are encoded, where the lane point parameter s is the path length on the desired lane, φ _{s is} the geographical latitude belonging to the lane point, λ _{s is} the geographical longitude, Φ _{s is} the direction of the nominal lane tangent in the lane point, R _{5 is} the radius of curvature at the lane point and v _{s is} the lane-longitudinal velocity associated with the lane point a controlled variable transformer 36 Which _(is φ, λ _is) from the actual position and the Istkurs ψ _is of the vessel as well as the rail and regulator requirements the tracking point s on the set path according to the procedure Y _B ² = _[is φ - φ _s (s)] ² + [λ _is - λ _s (s)] ² → min calculated and that a setpoint generator 34 the non-linear guideway is converted into a linear desired path, characterized in that on the one hand the measured data in the control variable transformer 36 _is by transformation into polar coordinates and filtering in the actual variables ship longitudinal speed v, track distance Y _are, course _is ψ and course angular velocity r _is the other hand, the parameters of the nonlinear set path by means of the tracking point s of the path presetting of the nominal path generator 31 in the setpoint generator 34 converted by polar coordinate transformation into linear setpoint path parameters and these as time-dependent actual and setpoint variables to the path controller 35 be supplied. A method according to claim 1, characterized in that a web controller 35 in a robust or adaptive design, the command value of the heading angular velocity r _{shall be held in} accordance with an identified or fixed ship movement model by an amount T corresponding to the time delay of the path behavior and a correction signal is applied to the command value of the heading corresponding to the total drift the disturbance variables current and wind from the equation ψ _korr = Φ _{is determined} - Φ _Wδ . Device for carrying out the method according to claims 1 and 2, consisting of the construction groups of nominal train generators 31 , Train controller 35 , Control variable transformer 36 and setpoint generator 34 which, in turn, provides a robust or adaptive advancement block 52 includes, characterized in that this to compensate for maneuverability of the ship generates a corrected tracking point parameter s *, from which the database 51 the track point dependent desired trajectory data Φ (s *), R (s *) and v (s *) for the transducer block 53 which in turn calculates the intermediate quantity r (s *) taking into account the current velocity v _s and the model-dependent pre-filter 54 so that the individual sub-controllers of the orbit controller do not work against each other and continue to the course ψ _soll (t) an additional signal ψ _{korr is switched} to compensate for the total drift of electricity, wind and sea state.